US Patent 7475927 Expandable finger gripper

A pneumatically controlled finger gripper having a supporting body (11) with a proximal and a distal end, a pneumatic control piston (12) guided and moving alternatively in the body, a compression disk (13) connected to, and moving axially with, the piston relatively at the distal end of the supporting body, and a flexible gripper element (14) assembled between the compression disk (13) and the distal end of the supporting body (11) and moving between a contracted and expanded position in response to the movements of the control piston with the compression disk between an inactive and active position.